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Parallel pulley connecting rod linear flat clip self-adaptive finger device

An adaptive and connecting rod technology, which is applied in the direction of chucks, manipulators, manufacturing tools, etc., can solve the problems of unable to realize adaptive envelope grabbing, and achieve compact structure, low manufacturing and maintenance costs, and large grabbing range. Effect

Active Publication Date: 2018-10-02
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device can only realize the linear parallel clamping function, and cannot realize the function of adaptive envelope grabbing

Method used

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  • Parallel pulley connecting rod linear flat clip self-adaptive finger device
  • Parallel pulley connecting rod linear flat clip self-adaptive finger device
  • Parallel pulley connecting rod linear flat clip self-adaptive finger device

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Embodiment Construction

[0034] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0035] An embodiment of the parallel pulley connecting rod linear flat clip self-adaptive finger device designed by the present invention, as Figure 1 to Figure 4As shown, it includes a base 1, a motor 12, a transmission mechanism 6, a first finger segment 2, a second finger segment 3, a proximal joint shaft 4 and a distal joint shaft 5; the motor 12 is fixedly connected to the base 1; the The output shaft of the motor 12 is connected to the input end of the transmission mechanism 6; the first finger segment 2 is sleeved on the proximal joint shaft 4; the distal joint shaft 5 is movably sleeved in the first finger segment 2; The two finger segments 3 are sleeved on the distal joint shaft; the centerline of the proximal joint shaft 4 is parallel to the centerline of the distal joint shaft 5; the ...

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PUM

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Abstract

The invention discloses a parallel-connection belt / wheel / connecting rod linear parallel gripping self-adaption finger device and belongs to the technical field of robot hands. The device comprises a base, motors, transmission mechanisms, first finger sections, second finger sections, near joint shafts, far joint shafts, multiple transmission components, multiple transmission wheels, first connecting rods, second connecting rods, third connecting rods, springs, convex block driving discs, limiting blocks and the like. By means of the device, the functions that robot fingers conduct linear parallel gripping and self-adaption gripping are achieved; the second finger sections can be subjected to linear translational motion to hold objects with the fingers, and the objects in different shapes and of different sizes can be wrapped; the device is large in gripping scope; the under-actuated mode is adopted; each motor is utilized for driving the corresponding two finger sections, and no complex sensing and controlling system is needed; and the device is compact in structure, small in size, low in manufacturing cost and maintenance cost and applicable to a robot hand.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a parallel pulley connecting rod linear flat clip self-adaptive finger device. Background technique [0002] The robot hand is an important device for grasping objects. The method of grabbing an object is to limit the possibility of movement of the object in that direction from two opposite directions. There are multiple directions for the movement of objects in space. In order to limit the various movement possibilities of the grasped objects, it is necessary for the robot hand to restrict the movement of objects from all directions. Parallel clamping grasping (referred to as flat clamping grasping) is a common grasping method. The terminal finger segments always maintain a relatively fixed posture relative to the palm base during the movement process. During the grasping process, the opposite two fingers Or multiple fingers touch the o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 杨阳张文增徐向荣
Owner TSINGHUA UNIV
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